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This commit is contained in:
backuppc
2025-12-22 16:02:57 +09:00
parent 5a4c73e4df
commit 3408e3fc30
8 changed files with 123 additions and 8 deletions
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17
Cs_HMI/Project/StateMachine/_Xbee.cs
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@@ -113,7 +113,7 @@ namespace Project
case ENIGProtocol.AGVCommandHE.GotoAlias:
case ENIGProtocol.AGVCommandHE.Goto: //move to tag
var datalength = cmd == ENIGProtocol.AGVCommandHE.GotoAlias ? 1 : 4;
var datalength = cmd == ENIGProtocol.AGVCommandHE.GotoAlias ? 2 : 1;
if (data.Length > datalength)
{
var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1).Trim();
@@ -255,7 +255,7 @@ namespace Project
break;
default:
PUB.logagv.AddE($"Unknown Command : {cmd}");
PUB.logagv.AddE($"Unknown Command : {cmd} Sender:{e.ReceivedPacket.ID}, Target:{data[0]}");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.UnknownCommand, $"{cmd}");
break;
}
@@ -301,6 +301,19 @@ namespace Project
if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired)
advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
//마지막대상이 버퍼라면 시퀀스처리를 해야한다
if (targetNode.StationType == StationType.Buffer&& advancedResult.DetailedPath.Any())
{
var lastDetailPath = advancedResult.DetailedPath.Last();
if (lastDetailPath.NodeId == targetNode.Id) //마지막노드 재확인
{
//버퍼에 도킹할때에는 마지막 노드에서 멈추고 시퀀스를 적용해야한다
advancedResult.DetailedPath = advancedResult.DetailedPath.Take(advancedResult.DetailedPath.Count - 1).ToList();
Console.WriteLine("최종위치가 버퍼이므로 마지막 RFID에서 멈추도록 합니다");
}
}
_simulatorCanvas.CurrentPath = advancedResult;
//_pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
//_statusLabel.Text = $"경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";